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release/4.3a0
Varun Agrawal 2024-12-10 11:05:50 -05:00
parent 162f61061c
commit 372b133366
1 changed files with 13 additions and 14 deletions
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27
gtsam/discrete/DiscreteFactorGraph.cpp
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@ -36,13 +36,12 @@ namespace gtsam {
template class FactorGraph<DiscreteFactor>; template class FactorGraph<DiscreteFactor>;
template class EliminateableFactorGraph<DiscreteFactorGraph>; template class EliminateableFactorGraph<DiscreteFactorGraph>;
/* ************************************************************************* */ /* ************************************************************************ */
bool DiscreteFactorGraph::equals(const This& fg, double tol) const bool DiscreteFactorGraph::equals(const This& fg, double tol) const {
{
return Base::equals(fg, tol); return Base::equals(fg, tol);
} }
/* ************************************************************************* */ /* ************************************************************************ */
KeySet DiscreteFactorGraph::keys() const { KeySet DiscreteFactorGraph::keys() const {
KeySet keys; KeySet keys;
for (const sharedFactor& factor : *this) { for (const sharedFactor& factor : *this) {
@ -51,7 +50,7 @@ namespace gtsam {
return keys; return keys;
} }
/* ************************************************************************* */ /* ************************************************************************ */
DiscreteKeys DiscreteFactorGraph::discreteKeys() const { DiscreteKeys DiscreteFactorGraph::discreteKeys() const {
DiscreteKeys result; DiscreteKeys result;
for (auto&& factor : *this) { for (auto&& factor : *this) {
@ -64,7 +63,7 @@ namespace gtsam {
return result; return result;
} }
/* ************************************************************************* */ /* ************************************************************************ */
DecisionTreeFactor DiscreteFactorGraph::product() const { DecisionTreeFactor DiscreteFactorGraph::product() const {
DecisionTreeFactor result; DecisionTreeFactor result;
for (const sharedFactor& factor : *this) { for (const sharedFactor& factor : *this) {
@ -73,9 +72,8 @@ namespace gtsam {
return result; return result;
} }
/* ************************************************************************* */ /* ************************************************************************ */
double DiscreteFactorGraph::operator()( double DiscreteFactorGraph::operator()(const DiscreteValues& values) const {
const DiscreteValues &values) const {
double product = 1.0; double product = 1.0;
for (const sharedFactor& factor : factors_) { for (const sharedFactor& factor : factors_) {
product *= (*factor)(values); product *= (*factor)(values);
@ -83,9 +81,9 @@ namespace gtsam {
return product; return product;
} }
/* ************************************************************************* */ /* ************************************************************************ */
void DiscreteFactorGraph::print(const string& s, void DiscreteFactorGraph::print(const string& s,
const KeyFormatter& formatter) const { const KeyFormatter& formatter) const {
std::cout << s << std::endl; std::cout << s << std::endl;
std::cout << "size: " << size() << std::endl; std::cout << "size: " << size() << std::endl;
for (size_t i = 0; i < factors_.size(); i++) { for (size_t i = 0; i < factors_.size(); i++) {
@ -120,7 +118,8 @@ namespace gtsam {
* @param factors The factors to multiply as a DiscreteFactorGraph. * @param factors The factors to multiply as a DiscreteFactorGraph.
* @return DecisionTreeFactor * @return DecisionTreeFactor
*/ */
static DecisionTreeFactor ProductAndNormalize(const DiscreteFactorGraph& factors) { static DecisionTreeFactor ProductAndNormalize(
const DiscreteFactorGraph& factors) {
// PRODUCT: multiply all factors // PRODUCT: multiply all factors
gttic(product); gttic(product);
DecisionTreeFactor product = factors.product(); DecisionTreeFactor product = factors.product();
@ -155,8 +154,8 @@ namespace gtsam {
// Make lookup with product // Make lookup with product
gttic(lookup); gttic(lookup);
size_t nrFrontals = frontalKeys.size(); size_t nrFrontals = frontalKeys.size();
auto lookup = std::make_shared<DiscreteLookupTable>(nrFrontals, auto lookup =
orderedKeys, product); std::make_shared<DiscreteLookupTable>(nrFrontals, orderedKeys, product);
gttoc(lookup); gttoc(lookup);
return {std::dynamic_pointer_cast<DiscreteConditional>(lookup), max}; return {std::dynamic_pointer_cast<DiscreteConditional>(lookup), max};